CN117614490B - A method for recovering measurement data based on underwater unmanned vehicle sensors - Google Patents

Abstract

The invention discloses a recovery method based on underwater unmanned vehicle sensor measurement data, which comprises a data acquisition module, a data return module and a remote monitoring module, wherein the data acquisition module comprises a physical ocean sensor and a biochemical sensor, the data return module comprises a data recovery floating body and a data recovery floating body base, the release of the data recovery floating body is completed by an electric effect self-fluxing device and a matched mechanism or a secondary release shape memory alloy compaction release mechanism thereof, and the remote monitoring module consists of a shore-based set of data receiving system. The invention can realize in-situ collection and automatic storage of deep sea water parameters by means of the deep sea unmanned vehicle as a platform; the self-elevating data recovery floating body based on the underwater unmanned vehicle has underwater non-contact data transmission and single-pass data return capacity, realizes fixed-period return of the acquired and observed deep sea data, greatly reduces the recovery and re-arrangement cost of the underwater unmanned vehicle, and can improve the systematicness, continuity and timeliness of the deep sea observation and data acquisition.

Description

A method for recovering measurement data based on underwater unmanned vehicle sensors

Technical Field

The present invention relates to the technical field of underwater environment detection, and in particular to a method for recovering measurement data based on sensors of an underwater unmanned vehicle.

Background technique

At present, most of the detection equipment commonly used in deep-sea exploration and scientific research adopts self-contained data storage, that is, the collected data is stored in the storage unit of the equipment itself. After the detection equipment completes an entire workflow and work cycle, the relevant personnel will recover it to the mother ship or shore-based laboratory, and then export the stored detection data and maintain the equipment. This observation method may bring unnecessary equipment recovery and redeployment costs for scientific research missions that require long-term operations, and if the autonomous underwater equipment fails, the previously collected data will be lost.

The timely and complete recovery of collected data is crucial for autonomous deep-sea exploration. The data and collection storage methods of traditional deep-sea observation equipment can ensure that the equipment can sail underwater for a long time, but the observed data cannot be recovered in time, and the continuity and real-time performance of data recovery are relatively weak. The main problem for this is the complexity of the deep-sea environment. Any data transmission method that is extremely efficient on land will become extremely unreliable in the sea, especially in the deep sea. In addition, the currently commonly used deep-sea observation equipment shows a trend of miniaturization and intelligence. The hydrological parameter data collected are of many types and large quantities, and the limited space is used to assemble the detection module and the propulsion module. For this design, solving this problem is the main breakthrough point of this design.

Summary of the invention

The purpose of the present invention is to solve the shortcomings of the prior art and to propose a method for recovering measurement data based on underwater unmanned vehicle sensors.

In order to achieve the above object, the present invention adopts the following technical solutions:

A method for recovering data measured by underwater unmanned vehicle sensors, comprising a data acquisition module, a data return module and a remote monitoring module, wherein the data acquisition module comprises a physical ocean sensor and a biochemical sensor, the data return module comprises six data recovery floats and six data recovery float bases, the release of the data recovery floats is completed by an electric effect self-melting device and its supporting mechanism, and the electric effect self-melting device and its supporting mechanism comprise an electric effect self-melting device, an electric effect self-melting device tray, a spring, a spring tray, a spring shaft block, an electric effect self-melting device fixture, a self-melting device position regulator, a data transmission watertight cable, an electric main control watertight cable and a magnetic induction communication coil slot, the edge of the electric effect self-melting device tray is vertically penetrated by a spring shaft block, the spring tray is located directly below the electric effect self-melting device tray, the spring is vertically welded between the electric effect self-melting device tray and the spring tray, and the electric effect self-melting device is fixedly installed in the middle of the electric effect self-melting device tray , the electric effect self-melting device fixture is fixedly installed at the center of the bottom of the spring tray, the electric effect self-melting device position regulator is fixedly installed at the bottom of the electric effect self-melting device fixture, the data transmission watertight cable and the electric main control watertight cable are both connected to the bottom of the electric effect self-melting device, the spring shaft block is fixed by screws and the electric effect self-melting device tray, the bottom end of the spring shaft block is screwed with a plastic nut, the spring is sleeved on the outer periphery of the spring shaft block, the spring shaft block and the spring are both provided with multiple and the number is the same, the magnetic induction communication coil slot is opened at the bottom of the electric effect self-melting device, the data transmission watertight cable passes through the bottom position of the spring tray and is fixedly installed with a data transmission watertight head, the bottom of the data transmission watertight head is fixedly installed with a data transmission watertight head locking cover, the electric main control watertight cable passes through the bottom position of the spring tray and is fixedly installed with a power supply main control watertight head, the bottom of the power supply main control watertight head is fixedly installed with an electric main control watertight head locking cover, and the remote monitoring module is composed of a set of shore-based data receiving system;

The specific steps include the following:

S1: Before the data recovery float enters the water, the reserved groove on the electric effect self-melting device is clamped by the electric effect self-melting device clamp and the electric effect self-melting device position regulator, and the electric effect self-melting device is effectively fixed together with the electric effect self-melting device tray, spring, spring tray, and spring shaft block, and the whole is installed on the underwater unmanned vehicle;

S2: After completing step S1, the electric effect self-melting device is appropriately pre-tightened by the electric effect self-melting device position regulator to ensure the position stability of the data recovery float;

S3: One end of the data transmission watertight cable is connected to the main control cabin, and the other end passes through the electric effect self-melting device tray, is connected to the magnetic induction coil and is sealed in the magnetic induction communication coil slot through epoxy resin;

S4: After the unmanned vehicle is launched into the water, the data acquisition module collects various underwater parameters, and the underwater signals are stored in the communication control cabin in the form of electrical signals through the data transmission watertight cable. After the main control cabin detects the incoming data and meets the transmission data format requirements, it is transmitted to the data recovery buoy base via the data transmission watertight cable, and the data is transmitted to the circuit board of the battery cabin in a non-contact manner through the principle of electromagnetic effect and stored;

S5: When the data recovery float completes the predetermined operation task, the main control board in the control cabin of the unmanned vehicle implements the control command through the electric main control watertight cable, provides a DC power supply, and makes the electric effect self-melting device internal heating plate heat up and melt, and finally completes the release hook release and dumping under the buoyancy of the data recovery float itself, and finally realizes the release of the data recovery float;

S6: After the data recovery float floats to the surface, it sends the data to the satellite and eventually transmits it back to the shore or mother ship. After floating for more than 24 hours, it self-destructs the data to prevent data leakage.

As a further technical solution of the present invention, the physical oceanographic sensor can collect ocean current, conductivity, temperature, and pressure parameters; the biochemical sensor can collect chlorophyll, dissolved oxygen, fluorometer, turbidity, and pH parameters; the sensor itself has a self-capacitive data storage function, and the sensor can continuously control sampling and data storage.

As a further technical solution of the present invention, the data recovery float is internally equipped with a battery pack, a contactless data communication control cabin, a data recovery float main control cabin and a Beidou satellite communication module.

As a further technical solution of the present invention, the sensors of the data acquisition module are connected to the communication control cabin of the data recovery float through a watertight cable, the data obtained from point observations are stored in the communication control cabin in the form of electrical signals, and the data transmission between the data recovery float and the data recovery float base is realized using an electromagnetic induction communication coil.

As a further technical solution of the present invention, the data acquisition module and the data return module are in a dormant state when no data acquisition is performed and the float is released, and they need to be awakened before working. The awakening process is as follows: when the main control board in the communication control cabin needs to transmit data to the data recovery float, the communication control cabin wakes up the main control in the electronic warehouse of the data recovery float through the RS232 interface, and the relevant circuit units are turned on.

The beneficial effects of the present invention are as follows: it can rely on the deep-sea unmanned vehicle as a platform to realize the in-situ collection and automatic storage of deep-sea water parameters; the self-elevating data recovery float based on the underwater unmanned vehicle has the ability of underwater non-contact data transmission and one-way data return, and can use the data recovery float as a medium to realize the periodic return of the collected and observed deep-sea data, and there is no need to recover the unmanned vehicle system, which greatly reduces the cost of re-recovery and redeployment, and can improve the systematicity, continuity and timeliness of deep-sea observation and data collection.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic structural diagram of an electric effect self-melting device and its supporting mechanism for a method for recovering measurement data of an underwater unmanned vehicle sensor proposed by the present invention;

FIG2 is a schematic diagram of the front view of the structure of an electric effect self-melting device and its supporting mechanism of a method for recovering measurement data of an underwater unmanned vehicle sensor proposed by the present invention;

FIG3 is a cross-sectional structural diagram of an electric effect self-melting device and its supporting mechanism in a method for recovering measurement data of an underwater unmanned vehicle sensor proposed by the present invention;

FIG4 is a flowchart of a data recovery system wake-up process of a method for recovering data measured by an underwater unmanned vehicle sensor proposed by the present invention;

FIG5 is a schematic diagram of non-contact data transmission based on a method for recovering measurement data of an underwater unmanned vehicle sensor proposed by the present invention;

FIG6 is a flow chart of a method for recovering measurement data based on sensors of an underwater unmanned vehicle proposed by the present invention.

In the figure: 1. Electric effect self-melting device; 2. Electric effect self-melting device tray; 3. Spring; 4. Spring tray; 5. Spring shaft block; 6. Data transmission watertight head; 7. Power supply main control watertight head; 8. Electric effect self-melting device clamp; 9. Electric effect self-melting device position regulator; 10. Data transmission watertight cable; 11. Data transmission watertight head locking cover; 12. Electric main control watertight head locking cover; 13. Electric main control watertight cable; 14. Plastic nut; 15. Screw; 16. Magnetic induction communication coil slot.

Detailed ways

In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Please refer to Figures 1 to 6, a method for recovering data measured by underwater unmanned vehicle sensors, including a data acquisition module, a data return module and a remote monitoring module, the data acquisition module includes a physical ocean sensor and a biochemical sensor, the data return module includes six data recovery floats and six data recovery float bases, the release of the data recovery float is completed by an electric effect self-melting device and its supporting mechanism, and the electric effect self-melting device and its supporting mechanism include an electric effect self-melting device 1, an electric effect self-melting device tray 2, a spring 3, a spring tray 4, a spring shaft block 5, an electric effect The electric effect self-melting device is provided with a clamp 8, a position regulator 9, a watertight data transmission cable 10, a watertight electric main control cable 13 and a magnetic induction communication coil slot 16. The edge of the electric effect self-melting device tray 2 is vertically penetrated by a spring shaft block 5. The spring tray 4 is located directly below the electric effect self-melting device tray 2. The spring 3 is vertically welded between the electric effect self-melting device tray 2 and the spring tray 4. The electric effect self-melting device 1 is fixedly installed in the middle of the electric effect self-melting device tray 2. The electric effect self-melting device clamp 8 is fixedly installed at the bottom center of the spring tray 4. The electric effect self-melting device position regulator 9 is fixedly installed at the bottom of the electric effect self-melting device fixture 8, the data transmission watertight cable 10 and the electric main control watertight cable 13 are both connected to the bottom of the electric effect self-melting device 1, the spring shaft block 5 is fixed to the electric effect self-melting device tray 2 by screws 15, the bottom end of the spring shaft block 5 is screwed with a plastic nut 14, the spring 3 is sleeved on the outer periphery of the spring shaft block 5, the spring shaft block 5 and the spring 3 are both provided with multiple and the number is the same, the magnetic induction communication coil slot 16 is opened at the bottom of the electric effect self-melting device 1, the data transmission watertight cable 10 passes through the bottom position of the spring tray 4 and is fixedly installed with a data transmission watertight head 6, the data transmission A data transmission watertight head locking cover 11 is fixedly installed at the bottom of the water transmission watertight head 6, and a power supply main control watertight head 7 is fixedly installed at the bottom position of the electric main control watertight cable 13 passing through the spring tray 4. An electric main control watertight head locking cover 12 is fixedly installed at the bottom of the power supply main control watertight head 7. The remote monitoring module is composed of a set of shore-based data receiving systems. The remote monitoring module has the ability to receive data sent back by the data recovery float around the clock, can send commands to the data recovery float, and has the functions of storage, processing, analysis, export, and visualization of recovered data. The data will be automatically destroyed after floating for more than 24 hours;

The communication control cabin of the data recovery float realizes the data transmission between the sensor sampling data and the data recovery float, and realizes the periodic controlled release of the data recovery float. When the buoyancy cabin floats out of the sea when the self-inspection status is out of water, the Beidou satellite module integrated in the antenna cabin establishes a connection with the receiving base station and transmits the observation data back using the satellite.

The different integrated sensors are connected to the communication control cabin of the data recovery float through watertight cables. The data obtained from point observations are stored in the communication control cabin in the form of electrical signals. After the main control cabin detects the incoming data and meets the requirements of the transmission data format, it is transmitted to the base of the fixed recovery float via a watertight cable.

The data transmission between the data recovery floating base and the release unit is realized by electromagnetic induction communication coil. The principle of electromagnetic induction can realize wireless transmission between energy and signals. The measured data is transmitted through the unit and stored into the release unit, and then transmitted back to the shore-based receiving station through the satellite module after the release unit floats to the surface.

The data transmission between the unmanned vehicle and the data recovery float is completed through the magnetic induction coil. By reasonably setting the coil, data transmission is carried out at the optimal communication signal operating frequency, while reducing the complexity and scale of the circuit, overcoming the adverse effects of the complex underwater environment. This non-contact data transmission method is conducive to the transmission of the data recovery float. The underwater medium has a certain conductivity. As the operating frequency of the communication signal increases, the received induced voltage will increase. At the same time, the eddy current loss that increases with the frequency will reduce the received induced voltage.

The specific steps include the following:

S1: Before the data recovery float enters the water, the reserved groove on the electric effect self-melting device 1 is clamped by the electric effect self-melting device clamp 8 and the electric effect self-melting device position regulator 9, and the electric effect self-melting device 1 is effectively fixed together with the electric effect self-melting device tray 2, the spring 3, the spring tray 4, and the spring shaft block 5, and the whole is installed on the underwater unmanned vehicle;

S2: After completing step S1, the electric effect self-melting device 1 is appropriately pre-tightened by the electric effect self-melting device position regulator 9 to ensure the position stability of the data recovery float;

S3: One end of the data transmission watertight cable 10 is connected to the main control compartment, and the other end passes through the electric effect self-melting device tray 2, is connected to the magnetic induction coil and is sealed in the magnetic induction communication coil slot 16 through epoxy resin;

S4: After the unmanned vehicle is launched into the water, the data acquisition module collects various underwater parameters, and the underwater signals are stored in the communication control cabin in the form of electrical signals through the data transmission watertight cable 10. After the main control cabin detects that the data is incoming and meets the transmission data format requirements, it is then transmitted to the data recovery buoy base via the data transmission watertight cable 10, and the data is transmitted to the circuit board of the battery cabin in a non-contact manner through the principle of electromagnetic effect and stored;

S5: When the data recovery float completes the predetermined operation task, the main control board in the control cabin of the unmanned vehicle implements the control command through the electric main control watertight cable 13, provides a DC power supply, and makes the electric effect self-melting device 1 heat up and melt the electric heater, and finally completes the release of the release hook and the load under the buoyancy of the data recovery float, and finally realizes the release of the data recovery float;

S6: After the data recovery float floats to the surface, it sends the data to the satellite and eventually transmits it back to the shore or mother ship. After floating for more than 24 hours, it self-destructs the data to prevent data leakage.

In a preferred embodiment, physical oceanographic sensors can collect ocean currents, conductivity, temperature, and pressure parameters; biochemical sensors can collect chlorophyll, dissolved oxygen, fluorometer, turbidity, and pH parameters; the sensors themselves have an automatic data storage function, and the sensors can continuously control sampling and data storage.

In a preferred embodiment, the data recovery float is internally equipped with a battery pack, a contactless data communication control cabin, a data recovery float main control cabin and a Beidou satellite communication module.

In a preferred embodiment, the sensors of the data acquisition module are connected to the communication control cabin of the data recovery float through a watertight cable, the data obtained from point observations are stored in the communication control cabin in the form of electrical signals, and the data transmission between the data recovery float and the data recovery float base is achieved using an electromagnetic induction communication coil.

SMA materials (such as NiTi alloys) can produce shape memory effects and huge restoring forces by converting electrical energy and thermal energy into mechanical energy and outputting it in the form of displacement and force. Therefore, they can be used in new spatial compression and release mechanisms; the secondary release shape memory alloy spatial compression and release mechanism is composed of a locking/release system, a trigger system, a drive element, a housing and other parts. The separation pin is used to achieve the connection between the locked object and the mechanism, and is limited by a ball. After receiving the release command, the trigger system controls the drive element inside the release mechanism to complete the phase change of the SMA material, and finally achieves the separation of the locked object and the mechanism.

In a preferred embodiment, the data acquisition module and the data return module are both in a dormant state when not collecting data and releasing the floating body, and need to be awakened before working. In order to ensure that the entire system can meet the requirements of long-term underwater operation, the power consumption of the system is controlled.

Please refer to Figure 6. In a preferred embodiment, the awakening process is as follows: when the main control board in the communication control cabin needs to transmit data to the data recovery float, the communication control cabin wakes up the main control in the electronic warehouse of the data recovery float through the RS232 interface, and the relevant circuit units are turned on.

Regarding the connection method and working principle between the fixed base and the release unit, the data detected and recorded by the sensor detection unit of the unmanned vehicle is connected to the communication control cabin through the connection of the watertight cable. After the main control in the cabin detects that the collected data meets the requirements, it is transmitted to the bases of the six release units via the watertight cable, and the data is stored in the main control in the float. In the process of data transmission from the sensor, the base of the fixed release unit will be powered by the large battery compartment in the unmanned vehicle, and the collected data will be transmitted through the electromagnetic induction coil. The data recovery float is in a dormant state at this time to save power consumption.

The magnetic induction wireless communication modules are installed between the release unit and the base of the fixed release unit, and the two transmit information through the alternating magnetic field generated by the coil in the surrounding space. After the signal is modulated to the carrier frequency, it is loaded to both ends of the coil through the drive circuit. Since the current on the coil is alternating, an alternating magnetic field will be generated in the surrounding space. At the same time, the receiving coil is located in the alternating magnetic field, which will generate induced current and induced voltage. The induced voltage at both ends of the receiving coil is conditioned and demodulated into a baseband signal, thereby completing the signal transmission and transferring the data from the base of the fixed release unit to the release unit.

In order to successfully release the data recovery float, a marine autonomous release device with reasonable structure and simple operation was designed. It has the advantages of simple structure, low cost, reusability, small size and light weight. This structure can be applied to the environment of full sea depth.

The release device shell has reserved grooves. Before the main float enters the water, the connection between the main float and the release device is completed through the clamp and the base, and the release device is effectively fixed. Appropriate pre-tensioning measures are used to tighten and fix the data recovery float to ensure the stability of the position of the data recovery float. When the data recovery float completes the established operation task and needs to be recovered, the main control gives a release command to complete the load dumping logic response, and the release device is continuously supplied with DC power through the watertight plug. At this time, the electric heater starts to heat up and is used to heat the thermoplastic melt. After about a few minutes (determined by the ambient temperature and the weight of the dumping load), the thermoplastic melt melts and the stainless steel release hook is released, thereby completing the dumping and realizing the release of the data recovery float.

Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

The present invention is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. The recovery method based on the underwater unmanned vehicle sensor measurement data is characterized by comprising a data acquisition module, a data return module and a remote monitoring module, wherein the data acquisition module comprises a physical marine sensor and a biochemical sensor, the data return module comprises six data recovery floating bodies and six data recovery floating body bases, the release of the data recovery floating bodies is completed through an electric effect self-melting device and a matched mechanism thereof, the electric effect self-melting device and the matched mechanism thereof comprise an electric effect self-melting device tray (2), springs (3), spring trays (4), spring shaft blocks (5), an electric effect self-melting device clamp (8), a self-melting device position regulator (9), a data transmission watertight cable (10), an electric master watertight cable (13) and a magnetic induction communication coil groove (16), the edges of the electric effect self-melting device tray (2) vertically penetrate through spring shaft blocks (5), the spring trays (4) are positioned right below the electric effect self-melting device tray (2), the springs (3) are vertically arranged between the electric effect self-melting device tray (2) and the electric effect self-melting device tray (4), the electric effect self-melting device tray (4) is fixedly arranged at the middle part between the electric effect self-melting device tray (2) and the electric effect self-melting device tray (4), the electric effect self-melting device tray (4) is fixedly arranged at the middle part (2), the electric effect self-melting device position regulator (9) is fixedly arranged at the bottom of the electric effect self-melting device clamp (8), the data transmission watertight cable (10) and the electric main control watertight cable (13) are connected to the bottom of the electric effect self-melting device (1), the spring shaft block (5) is fixedly arranged at the bottom of the electric effect self-melting device tray (2) through screws (15) and the electric effect, the bottom end of the spring shaft block (5) is in threaded connection with a plastic nut (14), the spring (3) is sleeved on the periphery of the spring shaft block (5), the spring shaft block (5) and the spring (3) are respectively provided with a plurality of watertight coil grooves with the same number, the magnetic induction communication coil grooves (16) are formed in the bottom of the electric effect self-melting device (1), the data transmission watertight cable (10) penetrates through the bottom of the spring tray (4) and is fixedly provided with a data transmission watertight head locking cover (11), the electric main control cable (13) penetrates through the bottom of the spring tray (4) and is fixedly provided with a watertight head locking cover (7), and the electric main control head (7) is fixedly arranged at the bottom of the electric main control system and is provided with a watertight head locking system;

The method specifically comprises the following operation steps:

S1: before the data recovery floating body enters water, a reserved groove on the electric effect self-melting device (1) is clamped through an electric effect self-melting device clamp (8) and an electric effect self-melting device position regulator (9), and the reserved groove, the electric effect self-melting device, a tray (2) of the electric effect self-melting device, a spring (3), a spring tray (4) and a spring shaft block (5) are used for effectively fixing the electric effect self-melting device (1) together, and the electric effect self-melting device is integrally installed on an underwater unmanned vehicle;

S2: after the step S1 is completed, the electric effect self-melting device (1) is pre-tensioned properly through the electric effect self-melting device position regulator (9), so that the position stability of the data recovery floating body is ensured;

s3: one end of a data transmission watertight cable (10) is connected with the main control bin, and the other end of the data transmission watertight cable penetrates out of the electric effect self-melting device tray (2), is connected with the magnetic induction coil and is sealed in the magnetic induction communication coil groove (16) through epoxy resin;

S4: after the unmanned vehicle is launched, the data acquisition module acquires various underwater parameters, underwater signals are stored in the communication control cabin in an electric signal mode through the data transmission watertight cable (10), after the main control cabin detects that the data is transmitted and meets the requirement of a data transmission format, the data is transmitted to the data recovery floating body base through the data transmission watertight cable (10), and the data is transmitted to the circuit board of the battery cabin in a non-contact mode through an electromagnetic effect principle and stored;

S5: after the data recovery floating body completes a given operation task, a main control board mounted in a control cabin of the unmanned vehicle implements a control instruction through an electric main control watertight cable (13) to provide a direct-current power supply, so that an electric effect generates heat and melts from an electric heating plate in the melting device (1), and finally, release and throwing of a release hook are completed under the buoyancy action of the data recovery floating body, and finally, release of the data recovery floating body is realized;

S6: after the data recovery floating body floats up to the water surface, the data is sent to the satellite and finally transmitted back to the shore base or the mother ship, and after the floating time exceeds 24 hours, the data is self-destroyed, so that the data leakage is prevented.

2. The method for recycling measurement data based on the underwater unmanned vehicle sensor according to claim 1, wherein the physical ocean sensor can collect ocean current, conductivity, temperature and pressure parameters, the biochemical sensor can collect chlorophyll, dissolved oxygen, a fluorometer, turbidity and pH parameters, the sensor has a data self-contained storage function, and the sensor can continuously and controllably sample and store data.

3. The recovery method based on the underwater unmanned vehicle sensor measurement data according to claim 1, wherein a battery pack, a non-contact data communication control cabin, a data recovery floating body main control cabin and a Beidou satellite communication module are mounted in the data recovery floating body.

4. The method for recycling measurement data based on the underwater unmanned vehicle sensor according to claim 1, wherein the sensor of the data acquisition module is connected with the communication control cabin of the data recycling floating body through a watertight cable, the data obtained through point location observation is stored in the communication control cabin in an electric signal mode, and data transmission between the data recycling floating body and the base of the data recycling floating body is achieved through an electromagnetic induction communication coil.

5. The method for recovering measurement data based on the underwater unmanned vehicle sensor according to claim 1, wherein the data acquisition module and the data return module are in a dormant state in the process of not carrying out data acquisition and releasing the floating body, and are required to be awakened before working.

6. The method for recovering measurement data based on an underwater unmanned vehicle sensor according to claim 5, wherein the wake-up process is as follows: when the main control board in the communication control cabin needs to transmit data to the data recovery floating body, the communication control cabin wakes up the main control in the data recovery floating body electronic cabin through the RS232 interface, and the related circuit unit is started.